Accumulated Other Comprehensive Loss - Schedule of unrecognized net defined benefit and postretirement plan costs (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Unrecognized Net Defined Plan Costs
Accumulated Other Comprehensive Income Loss [Line Items]
Reclassification adjustment from AOCI on unrecognized net defined benefit and postretirement plan costs, net losses	$ 0.6		$ 1.1
Reclassification adjustment from AOCI on unrecognized net defined benefit and postretirement plan costs, tax		$ 0.5		$ 0.8
Change in Fair Value of Derivatives Products
Accumulated Other Comprehensive Income Loss [Line Items]
Reclassification adjustment from AOCI on derivatives, net gains (losses)	5.8		(1.8)
Reclassification adjustment from AOCI on derivatives, tax expense (benefit)		4.4		(1.6)
Change in Fair Value of Derivatives Products | Foreign Currency Forward Exchange Contracts
Accumulated Other Comprehensive Income Loss [Line Items]
Reclassification adjustment from AOCI on derivatives, net gains (losses)	3.6		4.3
Reclassification adjustment from AOCI on derivatives, tax expense (benefit)		2.7		3.1
Change in Fair Value of Derivatives Products | Commodity Swap Agreements
Accumulated Other Comprehensive Income Loss [Line Items]
Reclassification adjustment from AOCI on derivatives, net gains (losses)	(0.3)		(1.1)
Reclassification adjustment from AOCI on derivatives, tax expense (benefit)		(0.2)		(0.8)
Change in Fair Value of Derivatives Products | Interest Rate Derivatives
Accumulated Other Comprehensive Income Loss [Line Items]
Reclassification adjustment from AOCI on derivatives, net gains (losses)	$ 2.5		$ (5.0)
Reclassification adjustment from AOCI on derivatives, tax expense (benefit)		$ 1.9		$ (3.9)